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d/dai: Initialize mutex and thread helper

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This commit is contained in:
Moses Turner 2022-09-27 22:54:52 -05:00
parent 127a467efc
commit 034099211f
1 changed files with 8 additions and 0 deletions
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8
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -540,6 +540,10 @@ depthai_destroy(struct depthai_fs *depthai)
DEPTHAI_DEBUG(depthai, "DepthAI: Frameserver destroy called");
os_thread_helper_destroy(&depthai->image_thread);
os_thread_helper_destroy(&depthai->imu_thread);
u_var_remove_root(depthai);
for (int i = 0; i < 4; i++) {
u_sink_debug_destroy(&depthai->debug_sinks[i]);
}
// To work around use after free issue detected by ASan, v2.13.3 has this bug.
if (depthai->image_queue) {
@ -982,6 +986,9 @@ depthai_create_and_do_minimal_setup(void)
depthai->device = d;
u_var_add_root(depthai, "DepthAI Source", 0);
for (int i = 0; i < 4; i++) {
u_sink_debug_init(&depthai->debug_sinks[i]);
}
u_var_add_sink_debug(depthai, &depthai->debug_sinks[0], "RGB");
u_var_add_sink_debug(depthai, &depthai->debug_sinks[1], "Left");
u_var_add_sink_debug(depthai, &depthai->debug_sinks[2], "Right");
@ -994,6 +1001,7 @@ depthai_create_and_do_minimal_setup(void)
// Make sure that the thread helper is initialised.
os_thread_helper_init(&depthai->image_thread);
os_thread_helper_init(&depthai->imu_thread);
return depthai;
}